Time Optimal Trajectories for Bounded Velocity Differential Drive Vehicles
نویسندگان
چکیده
منابع مشابه
Time Optimal Trajectories for Bounded Velocity Differential Drive Vehicles
This paper presents the time optimal trajectories for differential drive vehicles in the unobstructed plane. The wheel angular velocities are bounded, but may be discontinuous. The paper proves the existence of optimal controls, derives the structure of optimal trajectories, and develops an algorithm for producing a time optimal trajectory between any two configurations. Every nontrivial optima...
متن کاملTime Optimal Trajectories for Bounded Velocity Differential Drive Robots
A differential drive robot is perhaps the simplest type of mobile robot, and the bounded velocity model is perhaps the simplest useful model of the admissible controls. This paper develops the bounded velocity model for diff drive mobile robots, and derives the time-optimal trajectories.
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This paper applies Pontryagin’s Maximum Principle to the time optimal control of differential drive mobile robots with velocity bounds. The Maximum Principle gives necessary conditions for time optimality. Extremal trajectories are those which satisfy these conditions, and are thus a superset of the time optimal trajectories. This paper derives a compact geometrical structure for extremal traje...
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We assume a differential drive mobile robot: two unsteered coaxial wheels are independently actuated. Each wheel has bounded velocity, but no bound on torque or acceleration. Pontryagin’s Maximum Principle gives an elegant description of the extremal trajectories, which are a superset of the time optimal trajectories. Further analysis gives an enumeration of the time optimal trajectories, and m...
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Nonholonomic wheeled mobile robots are often required to implement algorithms designed for holonomic kinematic systems. This creates a velocity tracking problem for the actual wheeled mobile robot. In this paper, we investigate the issue of tracking the desired velocity in the least amount of time, for a differential drive nonholonomic wheeled mobile robot. If the desired velocity is a constant...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2002
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836402320556403